Vision system with tail positioner

Patent metadata

Field	Value
Publication number	US-10154645-B2
Application number	US-201815977333-A
Country	US
Kind code	B2
Filing date	May 11, 2018
Priority date	Aug 17, 2016
Publication date	Dec 18, 2018
Grant date	Dec 18, 2018

Abstract

A system includes a robotic arm, an imaging device coupled to the robotic arm, a board coupled to the robotic arm, and a processor. The imaging device captures imaging data of a rearview of a dairy livestock through a field of view of the imaging device. The board is able to pivot from a down position to an up position and has an aperture through which the imaging device can pass through when the board lowers from the up position to the down position. The processor is coupled to both the imaging device and the board and is configured to identify a tail of the dairy livestock within the imaging data captured by the imaging device and send one or more instructions to raise the board from the down position to the up position, thereby moving the tail out of the field of view of the imaging device.

First claim

The invention claimed is:

1. A system comprising:
a robotic arm having a longitudinal axis;
one or more grabbers coupled to the robotic arm at a first end, each of the one or more grabbers configured to hold a teat cup for obtaining milk from a dairy livestock;
an imaging device coupled to the robotic arm and configured to capture imaging data of a rearview of the dairy livestock through a field of view of the imaging device;
a board having a length that is parallel to the longitudinal axis of the robotic arm, wherein the board is coupled to the robotic arm and is configured to pivot between up and down positions, the board comprising an aperture through which the imaging device can pass through when the board lowers from the up position to the down position;
a processor communicatively coupled to the imaging device and the board, the processor configured to:
identify a tail of the dairy livestock within the imaging data captured by the imaging device; and
send one or more instructions to raise the board from the down position to the up position, thereby moving the tail out of the field of view of the imaging device.

2. The system of claim 1 , wherein the imaging device comprises a three dimensional (3D) camera.

3. The system of claim 1 , wherein the imaging device comprises a laser.

4. The system of claim 1 , further comprising a hydraulic cylinder coupled to the board and configured to pivot the board between the up and down positions.

5. The system of claim 1 , wherein the board further comprises a notch on an end of the board that is proximate to the one or more grabbers.

6. The system of claim 1 , wherein the processor is further configured to:
after the board has been raised to the up position, identify a location of a teat of the dairy livestock within the imaging data captured by the imaging device;
after the location of the teat has been identified, send one or more instructions to lower the board from the up position to the down position; and
after board has lowered to the down position, send one or more instructions to attach the teat cup to the teat of the dairy livestock.

7. A system comprising:
a robotic arm having a longitudinal axis;
an imaging device coupled to the robotic arm and configured to capture imaging data of a rearview of a dairy livestock through a field of view of the imaging device;
a board having a length that is parallel to the longitudinal axis of the robotic arm, wherein the board is coupled to the robotic arm and is configured to pivot between up and down positions;
a processor communicatively coupled to the imaging device and the board, the processor configured to:
identify a tail of the dairy livestock within the imaging data captured by the imaging device; and
send one or more instructions to raise the board from the down position to the up position, thereby moving the tail out of the field of view of the imaging device.

8. The system of claim 7 , further comprising one or more grabbers coupled to the robotic arm at a first end, each of the one or more grabbers configured to hold a teat cup for obtaining milk from a dairy livestock.

9. The system of claim 8 , wherein the board further comprises a notch on an end of the board that is proximate to the one or more grabbers.

10. The system of claim 7 , wherein the board comprises:
a fluid diverter configured to divert fluid away from the imaging device; and
an aperture through which the imaging device passes when the board lowers from the up position to the down position.

11. The system of claim 7 , wherein the imaging device comprises a three dimensional (3D) camera or a laser.

12. The system of claim 7 , further comprising a hydraulic cylinder coupled to the board and configured to move the board between the up and down positions.

13. The system of claim 7 , wherein the processor is further configured to:
after the board has been raised to the up position, identify a location of a teat of the dairy livestock within the imaging data captured by the imaging device;
after the location of the teat has been identified, send one or more instructions to lower the board from the up position to the down position; and
after the board has lowered to the down position, send one or more instructions to attach the teat cup to the teat of the dairy livestock.

14. A method, comprising:
by an imaging device coupled to a robotic arm, capturing imaging data of a rearview of a dairy livestock through a field of view of the imaging device;
by one or more processors communicatively coupled to the imaging device and a board, identifying a tail of the dairy livestock within the imaging data captured by the imaging device;
by the one or more processors, sending one or more instructions to raise the board from a down position to an up position in order to move the tail out of the field of view of the imaging device;
by the one or more processors, after the board has been raised to the up position, identifying a location of a teat of the dairy livestock within the imaging data captured by the imaging device;
by the one or more processors, after the location of the teat has been identified, sending one or more instructions to lower the board from the up position to the down position; and
by the one or more processors, after sending the one or more instructions to lower the board from the up position to the down position, sending one or more instructions to attach a teat cup to the teat of the dairy livestock.

15. The method of claim 14 , wherein the board comprises:
a fluid diverter configured to divert fluid away from the imaging device; and
an aperture through which the imaging device passes when the board lowers from the up position to the down position.

16. The method of claim 14 , wherein the imaging device comprises a three dimensional (3D) camera.

17. The method of claim 14 , wherein the imaging device comprises a laser.

18. The method of claim 14 , further comprising a hydraulic cylinder coupled to the board and configured to move the board between the up and down positions.

19. The method of claim 14 , wherein:
the robotic arm further comprises one or more grabbers coupled to a first end of the robotic arm, each of the one or more grabbers configured to hold the teat cup for obtaining milk from the dairy livestock; and
the one or more instructions sent to attach the teat cup to the teat of the dairy livestock are sent to one of the one or more grabbers.

20. The method of claim 19 , wherein the board further comprises a notch on an end of the board that is proximate to the one or more grabbers.

Assignees

• Tech Holdings Corporation
• Technologies Holdings Corp

Inventors

• Foresman Mark A
• Van Der Sluis Peter Willem
• Godfrey Robert J

Classifications

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• A01J5/0175

  Attaching of clusters · CPC title

• A01J7/00

  Accessories for milking machines or devices · CPC title

• A01J5/007 Primary

  Monitoring milking processes; Control or regulation of milking machines · CPC title

• G05B2219/45113

  Animal handling, milking robot · CPC title